CN113253221A - Target detection method and device - Google Patents

Target detection method and device Download PDF

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Publication number
CN113253221A
CN113253221A CN202010084557.3A CN202010084557A CN113253221A CN 113253221 A CN113253221 A CN 113253221A CN 202010084557 A CN202010084557 A CN 202010084557A CN 113253221 A CN113253221 A CN 113253221A
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signals
target
antenna
dimensional array
range
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CN202010084557.3A
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CN113253221B (en
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高磊
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/418—Theoretical aspects

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The embodiment of the application discloses a target detection method and a target detection device, which can improve the signal-to-noise ratio of angle measurement data, thereby improving the precision of detecting a target angle by a multi-transmission multi-reception radar (such as an MIMO radar), further improving the signal processing performance, and being particularly suitable for the field of automatic driving or intelligent driving. The target detection method comprises the following steps: transmitting p first signals through p transmit antennas during a first time period; receiving q second signals from q receive antennas; acquiring q third signals; for each of the q third signals, determining m fourth signals corresponding to m pulse repetition intervals; determining angle information of the first target according to the at least two range-doppler spectrums; the q × m range-doppler spectrums correspond to the q × m fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.

Description

Target detection method and device
Technical Field
The embodiment of the application relates to the field of radars, in particular to a target detection method and device.
Background
Multiple Input Multiple Output (MIMO) radar is an important sensor in autonomous driving, smart driving, and assisted driving. The detection precision of the multi-transmitting and multi-receiving radar determines the safety of automatic driving, intelligent driving and assistant driving, and the improvement of the detection precision of the multi-transmitting and multi-receiving radar has important significance for the automatic driving, the intelligent driving and the assistant driving.
The multi-transmit multi-receive radar has a plurality of transmit antennas and a plurality of receive antennas. The different transmitting antennas in the multiple-transmitting and multiple-receiving radar often use a time division transmission mode to transmit pulses, namely the time for the different transmitting antennas to transmit the pulses is not overlapped, and each receiving antenna in the multiple-transmitting and multiple-receiving radar can distinguish which transmitting antenna the pulse is transmitted by according to the time for receiving the pulse and is obtained after the pulse is reflected by a target. However, this way of sending pulses results in longer time intervals for sending pulses from each transmitting antenna, and the speed ambiguity problem of the multi-transmitting and multi-receiving radar is more serious than that of the single-transmitting and multi-receiving radar.
Currently, the prior art alleviates the problem of speed ambiguity by adjusting the order in which multiple transmit antennas of a multiple-transmit multiple-receive radar transmit pulses in the time domain. For example, assume that the multi-transmit multi-receive radar includes 3 transmit antennas and 2 receive antennas, the 3 transmit antennas being transmit antenna a1, transmit antenna a2, and transmit antenna A3, respectively. Assume that the transmission antenna a1, the transmission antenna a2, and the transmission antenna A3 periodically transmit pulses in the following order in the time domain: transmitting antenna A1- > transmitting antenna A2- > transmitting antenna A1- > transmitting antenna A3- > transmitting antenna A1- > transmitting antenna A3. In the time domain, this pulse transmission sequence can alleviate the speed ambiguity problem of multiple-shot multiple-receive radar.
As can be seen from the above example, the pulses transmitted by the transmitting antenna a1 and the transmitting antenna a2 are equally spaced in the time domain, and the pulses transmitted by the transmitting antenna A3 are not equally spaced in the time domain. If the pulses transmitted by the transmitting antenna in the time domain are not equally spaced, the multi-transmitter and multi-receiver radar cannot transform the slow time domain to the doppler domain by discrete fourier transform, so the existing multi-transmitter and multi-receiver radar discards partial pulses of the transmitting antenna A3 in the time domain to ensure that the retained pulses transmitted by the transmitting antenna A3 are equally spaced in the time domain. For example, the multiple-receive-multiple radar discards odd-numbered times of pulses such as the 1 st, 3 rd, 5 th … and the like transmitted by the transmitting antenna A3 in the time domain, and reserves even-numbered times of pulses such as the 2 nd, 4 th, 6 th … and the like transmitted by the transmitting antenna A3 in the time domain, so that the reserved even-numbered times of pulses such as the 2 nd, 4 th, 6 th … and the like transmitted by the transmitting antenna A3 are equally spaced in the time domain.
However, this prior art method of discarding partial pulses reduces the signal-to-noise ratio for the goniometric data, thereby reducing the accuracy of the multiple-shot multiple-receive radar in detecting the angle of the target.
Disclosure of Invention
The embodiment of the application provides a target detection method and device, which are used for improving the precision of detecting a target angle by a multi-sending and multi-receiving radar.
The embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a target detection method, where the method includes: transmitting p first signals through p transmit antennas in a first time period, the first time period comprising n antenna rotation periods, each antenna rotation period comprising m pulse repetition intervals; receiving q second signals from q receive antennas; obtaining q third signals, wherein the q third signals are obtained according to the p first signals and the q second signals; for each of the q third signals, determining m fourth signals corresponding to m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval in each of the antenna rotation periods, wherein 1 ≦ i ≦ m; determining angle information of the first target according to at least two range-doppler spectrums, wherein the at least two range-doppler spectrums are subsets of q × m range-doppler spectrums; the q × m range-doppler spectrums correspond to the q × m fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.
In a first aspect, embodiments of the present application split each of q third signals into m fourth signals corresponding to m pulse repetition intervals, such that pulses included in each fourth signal are equally spaced in the time domain, and each fourth signal may be converted into a range-doppler spectrum by a discrete fourier transform. Due to the fact that the scheme adopted by the embodiment of the application can guarantee that the pulses contained in each fourth signal are equally spaced in the time domain, partial pulses of the fourth signals do not need to be discarded, the signal-to-noise ratio of the angle measurement data can be improved, and therefore the accuracy of the multiple-transmission multiple-reception radar in detecting the target angle is improved.
In a possible implementation manner of the first aspect, determining angle information of the first target according to at least two range-doppler spectrums includes: determining distance information of a first target and speed information of the first target; and determining the angle information of the first target according to the distance information of the first target, the speed information of the first target and the at least two range-Doppler spectrums.
In a possible implementation manner of the first aspect, determining the distance information of the first target and the speed information of the first target includes: acquiring q fifth signals, wherein the q fifth signals are obtained according to a first signal and q second signals sent by a first transmitting antenna in p transmitting antennas; and determining the distance information of the first target and the speed information of the first target according to the q distance Doppler spectrums, wherein the q distance Doppler spectrums correspond to the q fifth signals.
In a possible implementation manner of the first aspect, determining distance information of the first target and velocity information of the first target according to the q range-doppler spectrums includes: generating a first three-dimensional array according to the q range-doppler spectrums, wherein the first dimension of the first three-dimensional array is used for indicating the sequence number of each range-doppler spectrum in the q range-doppler spectrums, the second dimension of the first three-dimensional array is used for indicating range reference information, the third dimension of the first three-dimensional array is used for indicating speed reference information, and elements in the first three-dimensional array are used for indicating complex numbers corresponding to the sequence numbers, the range reference information and the speed reference information; and determining the distance information of the first target and the speed information of the first target according to the first three-dimensional array.
In a possible implementation manner of the first aspect, determining distance information of the first target and speed information of the first target according to the first three-dimensional array includes: detecting a first target in the third three-dimensional array, and determining distance information of the first target and speed information of the first target; the third three-dimensional array is obtained by taking a modulus or a square of the modulus for each element in the second three-dimensional array, the second three-dimensional array is obtained by performing discrete Fourier transform on the first dimension of the first three-dimensional array, the first dimension of the second three-dimensional array is used for indicating angle reference information, the second dimension of the second three-dimensional array is used for indicating distance reference information, and the third dimension of the second three-dimensional array is used for indicating speed reference information.
The method comprises the steps of generating q fifth signals by using a first signal sent by a first transmitting antenna and q second signals received by q receiving antennas, determining q range-doppler spectrums according to the q fifth signals, obtaining a third three-dimensional array according to the q range-doppler spectrums, and finally detecting a first target in the third three-dimensional array to determine distance information of the first target and speed information of the first target. In the prior art, a target is detected in a range-doppler domain, and since the first target is detected in the third three-dimensional array in the embodiment of the present application, which is equivalent to that the target is detected in a range-doppler angle domain in the embodiment of the present application, effective signals of each receiving antenna of the multi-transmission multi-reception radar provided in the embodiment of the present application can be superposed in phase, so that the signal-to-noise ratio of the target detection is further improved, and the signal-to-noise ratio of a local peak value of the target detection is also higher.
In a possible implementation manner of the first aspect, determining angle information of the first target according to the distance information of the first target, the velocity information of the first target, and at least two range-doppler spectrums includes: determining at least two complex numbers of the first target in at least two range-doppler spectra according to the range information of the first target and the velocity information of the first target; according to the speed information of the first target and the at least two time difference values, performing phase correction on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums; at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, the time difference value corresponding to the jth fourth signal in the m fourth signals is the difference between the starting time of the 1 st pulse repetition interval and the starting time of the jth pulse repetition interval in any one antenna rotation period; and determining the angle information of the first target according to the at least two first correction complex numbers, a first spatial position relation and a second spatial position relation, wherein the first spatial position relation is a spatial position relation among the p transmitting antennas, and the second spatial position relation is a spatial position relation among the q receiving antennas.
Each of the q third signals is split into m fourth signals corresponding to m pulse repetition intervals, so that pulses included in each fourth signal are equally spaced in a time domain, and each fourth signal can be converted into a range-doppler spectrum through discrete fourier transform. Furthermore, since the at least two range-doppler spectrums are generated according to the at least two fourth signals, the positions of the first target in the at least two range-doppler spectrums are the same, and after the position of the first target in one range-doppler spectrum is determined, the positions of the first target in the at least two range-doppler spectrums are determined, which is equivalent to determining the positions of the first target in the at least two range-doppler spectrums, so that the calculation process for determining the complex number of the first target in the at least two range-doppler spectrums can be simplified.
In a possible implementation manner of the first aspect, the q × p antenna pairs are antenna pairs formed by matching between each of p transmitting antennas and each of q receiving antennas, and q × p second correction complex numbers corresponding to the q × p antenna pairs are obtained according to at least two first correction complex numbers; for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, and the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair; or, for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is a third complex number corresponding to the first antenna pair, and the third complex number is one of the at least two first complex numbers.
The second correction complex number corresponding to the first antenna pair is an average value of at least two third correction complex numbers corresponding to the first antenna pair, and the method for calculating the average value can improve the signal-to-noise ratio, so that the precision of angle detection is improved.
In a second aspect, an embodiment of the present application provides a detection apparatus, including a transmitting module, configured to transmit p first signals through p transmit antennas in a first time period, where the first time period includes n antenna rotation periods, and each antenna rotation period includes m pulse repetition intervals; a receiving module, configured to receive q second signals from q receiving antennas; the acquisition module is used for acquiring q third signals, wherein the q third signals are obtained according to the p first signals and the q second signals; a determining module for determining, for each of the q third signals, m fourth signals corresponding to m pulse repetition intervals, in each of n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval in each of the antenna rotation periods, wherein 1 ≦ i ≦ m; determining angle information of the first target according to at least two range-doppler spectrums, wherein the at least two range-doppler spectrums are subsets of q × m range-doppler spectrums; the q × m range-doppler spectrums correspond to the q × m fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information. It should be noted that, logically, the obtaining module and the determining module may be collectively referred to as "determining module".
In a possible implementation manner of the second aspect, the determining module is specifically configured to determine distance information of the first target and speed information of the first target; and determining the angle information of the first target according to the distance information of the first target, the speed information of the first target and the at least two range-Doppler spectrums.
In a possible implementation manner of the second aspect, the determining module is specifically configured to acquire q fifth signals, where the q fifth signals are obtained according to a first signal and q second signals sent by a first transmit antenna of p transmit antennas; and determining the distance information of the first target and the speed information of the first target according to the q distance Doppler spectrums, wherein the q distance Doppler spectrums correspond to the q fifth signals.
In a possible implementation manner of the second aspect, the determining module is specifically configured to generate a first three-dimensional array according to the q range-doppler spectrums, where a first dimension of the first three-dimensional array is used to indicate a sequence number of each of the q range-doppler spectrums, a second dimension of the first three-dimensional array is used to indicate distance reference information, a third dimension of the first three-dimensional array is used to indicate velocity reference information, and an element in the first three-dimensional array is used to indicate a complex number corresponding to the sequence number, the distance reference information, and the velocity reference information; and determining the distance information of the first target and the speed information of the first target according to the first three-dimensional array.
In a possible implementation manner of the second aspect, the determining module is specifically configured to perform discrete fourier transform on the first dimension of the first three-dimensional array to obtain a second three-dimensional array, where the first dimension of the second three-dimensional array is used to indicate angle reference information, the second dimension of the second three-dimensional array is used to indicate distance reference information, and the third dimension of the second three-dimensional array is used to indicate speed reference information; taking a module or the square of the module of each element in the second three-dimensional array to obtain a third three-dimensional array; and detecting the first target in the third three-dimensional array to determine the distance information of the first target and the speed information of the first target.
In a possible implementation manner of the second aspect, the determining module is specifically configured to determine at least two complex numbers of the first target in at least two range-doppler spectrums according to the distance information of the first target and the velocity information of the first target; according to the speed information of the first target and the at least two time difference values, performing phase correction on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums; at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, the time difference value corresponding to the jth fourth signal in the m fourth signals is the difference between the starting time of the 1 st pulse repetition interval and the starting time of the jth pulse repetition interval in any one antenna rotation period; and determining the angle information of the first target according to the at least two first correction complex numbers, a first spatial position relation and a second spatial position relation, wherein the first spatial position relation is a spatial position relation among the p transmitting antennas, and the second spatial position relation is a spatial position relation among the q receiving antennas.
In a possible implementation manner of the second aspect, the q × p antenna pairs are antenna pairs formed by matching between each of p transmitting antennas and each of q receiving antennas, and q × p second modified complex numbers corresponding to the q × p antenna pairs are obtained according to at least two first modified complex numbers; for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, and the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair; or, for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is a third complex number corresponding to the first antenna pair, and the third complex number is one of the at least two first complex numbers.
In a third aspect, an embodiment of the present application provides a probe apparatus, including at least one memory and at least one processor; the at least one memory has a computer program stored therein, and the at least one processor invokes the computer program stored in the at least one memory to implement the detection apparatus to perform the following operations: obtaining q third signals, wherein the q third signals are obtained according to the p first signals and the q second signals; for each of the q third signals, determining m fourth signals corresponding to m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval in each of the antenna rotation periods, wherein 1 ≦ i ≦ m; determining angle information of the first target according to at least two range-doppler spectrums, wherein the at least two range-doppler spectrums are subsets of q × m range-doppler spectrums; the device comprises a distance Doppler spectrum acquisition module, a distance Doppler spectrum acquisition module and a speed acquisition module, wherein the q x m distance Doppler spectra correspond to the q x m fourth signals, the distance Doppler spectra comprise a two-dimensional array, the first dimension of the two-dimensional array is used for indicating distance reference information, and the second dimension of the two-dimensional array is used for indicating speed reference information; the p first signals are signals transmitted by p transmitting antennas in a first time period, the q second signals are signals received by q receiving antennas, the first time period comprises n antenna rotation periods, and each antenna rotation period comprises m pulse repetition intervals.
In a possible implementation manner of the third aspect, the at least one processor is specifically configured to determine distance information of the first target and speed information of the first target; and determining the angle information of the first target according to the distance information of the first target, the speed information of the first target and the at least two range-Doppler spectrums.
In a possible implementation manner of the third aspect, the at least one processor is specifically configured to obtain q fifth signals, where the q fifth signals are obtained according to a first signal and q second signals sent by a first transmit antenna of p transmit antennas; and determining the distance information of the first target and the speed information of the first target according to the q distance Doppler spectrums, wherein the q distance Doppler spectrums correspond to the q fifth signals.
In a possible implementation manner of the third aspect, the at least one processor is specifically configured to generate a first three-dimensional array according to the q range-doppler spectrums, where a first dimension of the first three-dimensional array is used to indicate a sequence number of each of the q range-doppler spectrums, a second dimension of the first three-dimensional array is used to indicate distance reference information, a third dimension of the first three-dimensional array is used to indicate velocity reference information, and an element in the first three-dimensional array is used to indicate a complex number corresponding to the sequence number, the distance reference information, and the velocity reference information; and determining the distance information of the first target and the speed information of the first target according to the first three-dimensional array.
In a possible implementation manner of the third aspect, the at least one processor is specifically configured to perform discrete fourier transform on the first dimension of the first three-dimensional array to obtain a second three-dimensional array, where the first dimension of the second three-dimensional array is used to indicate angle reference information, the second dimension of the second three-dimensional array is used to indicate distance reference information, and the third dimension of the second three-dimensional array is used to indicate speed reference information; taking a module or the square of the module of each element in the second three-dimensional array to obtain a third three-dimensional array; and detecting the first target in the third three-dimensional array to determine the distance information of the first target and the speed information of the first target.
In a possible implementation manner of the third aspect, the at least one processor is specifically configured to determine at least two complex numbers of the first target in at least two range-doppler spectra according to the range information of the first target and the velocity information of the first target; according to the speed information of the first target and the at least two time difference values, performing phase correction on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums; at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, the time difference value corresponding to the jth fourth signal in the m fourth signals is the difference between the starting time of the 1 st pulse repetition interval and the starting time of the jth pulse repetition interval in any one antenna rotation period; and determining the angle information of the first target according to the at least two first correction complex numbers, a first spatial position relation and a second spatial position relation, wherein the first spatial position relation is a spatial position relation among the p transmitting antennas, and the second spatial position relation is a spatial position relation among the q receiving antennas.
In a possible implementation manner of the third aspect, the q × p antenna pairs are antenna pairs formed by matching between each of p transmitting antennas and each of q receiving antennas, and q × p second correction complex numbers corresponding to the q × p antenna pairs are obtained according to at least two first correction complex numbers; for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, and the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair; or, for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is a third complex number corresponding to the first antenna pair, and the third complex number is one of the at least two first complex numbers.
In a possible implementation manner of the third aspect, the detecting device further includes P transmitting antennas, q receiving antennas, a transmitting antenna selecting device, and q mixers; the transmitting antenna selection device is used for controlling p transmitting antennas to transmit p first signals in a first time period; q mixers for receiving q second signals from q receiving antennas, receiving p first signals transmitted by p transmitting antennas, generating q third signals according to the p first signals and the q second signals, and transmitting the q third signals to at least one processor.
In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on at least one processor, the method is implemented as the first aspect or any one of the possible implementation manners of the first aspect.
In a fifth aspect, the present application provides a sensor system, which may include at least one sensor including the detecting device of the second aspect or the detecting device of the third aspect, and is configured to implement the method of the first aspect or any one of the possible implementations of the first aspect.
In a sixth aspect, embodiments of the present application provide a vehicle including the sensor system of the fifth aspect.
In a seventh aspect, an embodiment of the present application provides a chip system, where the chip system includes at least one processor, at least one memory, and an interface circuit. Optionally, the at least one memory, the interface circuit and the at least one processor are interconnected by wires. The interface circuit is used for communicating the external equipment with the at least one processor or transmitting information, and the at least one memory stores a computer program; the computer program is for implementing the method shown in the first aspect or any one of the possible implementations of the first aspect when executed by the at least one processor.
Drawings
Fig. 1 is a schematic diagram of a transmission signal transmitted by a multiple-shot multiple-reception radar according to an embodiment of the present application during a first time period H;
fig. 2 is a flowchart of a target detection method according to an embodiment of the present application;
fig. 3 is a flowchart of a refinement step included in S105 of fig. 2 provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a first three-dimensional array according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of obtaining a three-dimensional array K2 according to the three-dimensional array K1 provided in the present application;
FIG. 6 is a schematic diagram of obtaining a three-dimensional array K3 according to the three-dimensional array K2 provided in the present application;
FIG. 7 is a schematic diagram of determining a local peak value X according to a three-dimensional array K3 according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a detection apparatus according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a detection apparatus according to an embodiment of the present application.
Detailed Description
Before describing the target detection method provided by the embodiment of the present application, some important concepts appearing in the embodiment of the present application are described first, and the concepts are described by using the example shown in fig. 1, where fig. 1 is a schematic diagram of a transmission signal transmitted by the multiple-transmit multiple-receive radar provided by the embodiment of the present application in the first time period H.
It should be noted that the MIMO radar mentioned in the embodiments of the present application refers to a time division multiplexing-multiple input multiple output (TDM-MIMO) radar, and for simplicity of nomenclature, the MIMO radar mentioned herein refers to a time division multiplexing-multiple input multiple output (TDM-MIMO) radar.
The multi-transmit multi-receive radar includes a plurality of transmit antennas and a plurality of receive antennas. Wherein, a plurality of transmitting antennas of the multi-transmitting and multi-receiving radar need to satisfy the following characteristics: characteristic A1, each transmitting antenna in a plurality of transmitting antennas has a corresponding antenna transmitting period; characteristic a2, each of the plurality of transmit antennas transmitting a plurality of pulses in the time domain; the characteristic A3 that a plurality of transmitting antennas are all in a power supply state, the plurality of transmitting antennas send pulses according to a control instruction, and any two pulses sent by the plurality of transmitting antennas on a time domain are not overlapped; characteristic A4, each transmitting antenna in a plurality of transmitting antennas sends pulse according to the corresponding antenna transmitting period in the time domain; characteristic a5, that any pulse sent by each of the multiple transmit antennas needs to occupy a Pulse Repetition Time (PRT); the characteristic A6 that the pulse repetition interval is the time period between the start time of two adjacent pulses in a plurality of pulses sent by a plurality of transmitting antennas; characteristic a7, an antenna transmission period of a first transmit antenna of the plurality of transmit antennas is less than an antenna rotation period, wherein the first transmit antenna is a transmit antenna previously specified in the plurality of transmit antennas; feature A8, the first transmit antenna sends only one pulse in each corresponding antenna transmit period. Feature a9, the multiple pulses sent in the time domain by each of the multiple transmit antennas, constitute the signal sent by each transmit antenna.
The first time period, antenna rotation period, antenna transmission period, and pulse repetition interval appearing herein indicate time periods of different time lengths, respectively. The first time period includes n antenna rotation periods, each of the n antenna rotation periods includes m Pulse Repetition Time (PRT), n is greater than or equal to 2, and m is greater than or equal to 3. The antenna transmission period includes at least two pulse repetition intervals, the antenna transmission period being the frequency at which the transmit antenna transmits pulses. The antenna rotation period is the least common multiple of the multiple antenna transmission periods corresponding to the multiple transmission antennas, and the starting time of the first time period is the starting time of the first antenna rotation period in the n antenna rotation periods. The multiple transmitting antennas sequentially transmit m pulses according to a preset transmitting sequence within m pulse repetition intervals of each antenna rotation period.
For example, as shown in fig. 1, it is assumed that the mimo radar includes three transmitting antennas tx1, tx2 and tx3 and two receiving antennas rx1 and rx 2. The first time period H is a time period required for the multi-transmit multi-receive radar to transmit one data frame, and specifically, the first time period H includes 10 antenna rotation periods, and each of the 10 antenna rotation periods includes 4 pulse repetition intervals. The antenna transmission period of the transmitting antenna tx1 is 2 pulse repetition intervals, i.e. the transmitting antenna tx1 transmits one pulse every 2 pulse repetition intervals. The antenna transmission periods of the transmitting antenna tx2 and the transmitting antenna tx3 are 4 pulse repetition intervals, i.e., the transmitting antenna tx2 and the transmitting antenna tx3 each transmit a pulse every 4 pulse repetition intervals.
In the example shown in fig. 1, the preset transmission order for the three transmit antennas (tx1, tx2, and tx3) over the 4 pulse repetition intervals (t1 to t4) of each antenna rotation period is: transmit antenna tx1- > transmit antenna tx2- > transmit antenna tx1- > transmit antenna tx 3. As can be known from the antenna rotation period L1 in fig. 1, in the 4 pulse repetition intervals (t1 to t4) of the antenna rotation period L1, the three transmit antennas (tx1, tx2, and tx3) transmit 4 pulses in the preset transmission sequence (tx1- > tx2- > tx1- > tx 3). Specifically, first, the transmitting antenna tx1 transmits one pulse in the pulse repetition interval t1 of the antenna rotation period L1; then, the transmitting antenna tx2 transmits one pulse in the pulse repetition interval t2 of the antenna rotation period L1; secondly, the transmit antenna tx1 sends a pulse in the pulse repetition interval t3 of the antenna rotation period L1; finally, the transmit antenna tx3 transmits one pulse in the pulse repetition interval t4 of the antenna rotation period L1.
In the example shown in fig. 1, all pulses transmitted by the transmitting antenna tx1 in the first time period H constitute the first signal transmitted by the transmitting antenna tx1, all pulses transmitted by the transmitting antenna tx2 in the first time period H constitute the first signal transmitted by the transmitting antenna tx2, and all pulses transmitted by the transmitting antenna tx3 in the first time period H constitute the first signal transmitted by the transmitting antenna tx 3. After 3 first signals transmitted by the 3 transmitting antennas of the multiple-transmit multiple-receive radar are reflected by the target object, 2 second signals are received by the two receiving antennas (rx1 and rx2) of the multiple-transmit multiple-receive radar, and 2 third signals can be generated by the multiple-transmit multiple-receive radar according to the 3 first signals and each of the 2 second signals. Specifically, in this example, the first signal is a signal transmitted by each of 3 transmitting antennas, the second signal is a signal received by each of 2 receiving antennas, and the third signal is an intermediate frequency signal generated by the multi-transmit multi-receive radar from each of the 3 first signals and the 2 second signals.
Referring to fig. 1 and fig. 2, fig. 2 is a flowchart of a target detection method according to an embodiment of the present disclosure. The target detection method provided by the embodiment of the application comprises the following steps S101 to S105.
S101, p first signals are sent through p transmitting antennas in a first time period.
Wherein the first time period comprises n antenna rotation periods, each antenna rotation period comprising m pulse repetition intervals.
For example, as shown in fig. 1, the mimo radar transmits 3 first signals (a1, a2, and A3) through 3 transmit antennas (tx1, tx2, and tx3) during a first period. Wherein the first signal a1 of the transmitting antenna tx1 comprises all pulses transmitted by the transmitting antenna tx1 during the first time period, the first signal a2 of the transmitting antenna tx2 comprises all pulses transmitted by the transmitting antenna tx2 during the first time period, and the first signal A3 of the transmitting antenna tx3 comprises all pulses transmitted by the transmitting antenna tx3 during the first time period.
And S102, receiving q second signals from q receiving antennas.
For example, as shown in fig. 1, 2 receiving antennas (rx1 and rx2) of the multi-transmit multi-receive radar receive 2 second signals (B1 and B2). The second signal B1 of the receiving antenna rx1 is a signal received by the receiving antenna rx1 after 3 first signals sent by 3 transmitting antennas (tx1, tx2 and tx3) are reflected by the target object, and the second signal B2 of the receiving antenna rx2 is a signal received by the receiving antenna rx2 after 3 first signals sent by 3 transmitting antennas (tx1, tx2 and tx3) are reflected by the target object.
And S103, acquiring q third signals.
Wherein q third signals are derived from the p first signals and the q second signals. Specifically, the multi-transmission multi-reception radar generates p first signals, the multi-transmission multi-reception radar transmits the p first signals through p transmitting antennas in a first time period, the multi-transmission multi-reception radar receives q second signals through q receiving antennas, and the multi-transmission multi-reception radar mixes the p first signals and the q second signals to generate q third signals. Optionally, the third signal may be an intermediate frequency signal, where the intermediate frequency signal is obtained by mixing signals sent by p transmitting antennas and signals received by q receiving antennas by a multi-transmit multi-receive radar.
For example, as shown in fig. 1, the third signal C1 of the receiving antenna rx1 is generated according to the 3 first signals (a1, a2, and A3) transmitted by the 3 transmitting antennas (tx1, tx2, and tx3) and the second signal B1 received by the receiving antenna rx1, and the third signal C2 of the receiving antenna rx2 is generated according to the 3 first signals (a1, a2, and A3) transmitted by the 3 transmitting antennas (tx1, tx2, and tx3) and the second signal B2 received by the receiving antenna rx 2. Specifically, in the present example, the third signal may be an intermediate frequency signal.
S104, for each of the q third signals, determining m fourth signals corresponding to m pulse repetition intervals.
In each antenna rotation period of the n antenna rotation periods, the ith fourth signal in the m fourth signals is equal to the third signal in the ith pulse repetition interval, the ith fourth signal in the m fourth signals is equal to 0 in other time intervals except the ith pulse repetition interval in each antenna rotation period, and i is greater than or equal to 1 and less than or equal to m.
For example, referring to fig. 1, for the third signal C1 of the receiving antenna rx1, 4 fourth signals (D11, D12, D13, and D14) corresponding to 4 pulse repetition intervals (t1 to t4) for each antenna rotation period are determined. For the third signal C2 of the receive antenna rx2, 4 fourth signals (D21, D22, D23, and D24) corresponding to 4 pulse repetition intervals (t1 to t4) per antenna rotation period are determined.
Specifically, for the fourth signal (D11, D12, D13 and D14) of the receive antenna rx1, the fourth signal D11 is equal to the third signal C1 for the pulse repetition interval t1 of each antenna rotation period and is equal to 0 for the pulse repetition interval (t2, t3 and t4) of each antenna rotation period; the fourth signal D12 is equal to the third signal C1 for the pulse repetition interval t2 of each antenna rotation period and is equal to 0 for the pulse repetition intervals (t1, t3, and t4) of each antenna rotation period; the fourth signal D13 is equal to the third signal C1 for the pulse repetition interval t3 of each antenna rotation period and is equal to 0 for the pulse repetition intervals (t1, t2, and t4) of each antenna rotation period; the fourth signal D14 is equal to the third signal C1 for the pulse repetition interval t4 of each antenna rotation period and is equal to 0 for the pulse repetition intervals (t1, t2, and t3) of each antenna rotation period.
Specifically, for the fourth signal (D21, D22, D23 and D24) of the receive antenna rx2, the fourth signal D21 is equal to the third signal C2 for the pulse repetition interval t1 of each antenna rotation period and is equal to 0 for the pulse repetition interval (t2, t3 and t4) of each antenna rotation period; the fourth signal D22 is equal to the third signal C2 for the pulse repetition interval t2 of each antenna rotation period and is equal to 0 for the pulse repetition intervals (t1, t3, and t4) of each antenna rotation period; the fourth signal D23 is equal to the third signal C2 for the pulse repetition interval t3 of each antenna rotation period and is equal to 0 for the pulse repetition intervals (t1, t2, and t4) of each antenna rotation period; the fourth signal D24 is equal to the third signal C2 for the pulse repetition interval t4 of each antenna rotation period and is equal to 0 for the pulse repetition intervals (t1, t2, and t3) of each antenna rotation period.
The method provided by the embodiment of the application can also determine q × m range-doppler spectrums according to q × m fourth signals. Of course, the method provided by the embodiment of the present application may also determine at least two range-doppler spectrums according to at least two fourth signals of the q × m fourth signals. The at least two range-doppler spectra are a subset of the q x m range-doppler spectra.
For the scheme of determining q × m range-doppler spectra from q × m fourth signals, for example, as shown in fig. 1, if q is 2 and m is 4, it is equivalent to determining 8 range-doppler spectra (E11, E12, E13, E14, E21, E22, E23 and E24) from 8 fourth signals (D11, D12, D13, D14, D21, D22, D23 and D24).
Wherein, for the scheme of determining at least two range-doppler spectra from at least two of the q × m fourth signals, for example, please refer to fig. 1, if the at least two fourth signals refer to 4 fourth signals, it is equivalent to determining 4 range-doppler spectra (E11, E12, E21, and E22) from the 4 fourth signals (D11, D12, D21, and D22). Of course, the at least two fourth signals may be 2 or more than 2 fourth signals among the 8 fourth signals (D11, D12, D13, D14, D21, D22, D23, and D24), and there are many ways of selecting 2 or more than 2 fourth signals among the 8 fourth signals (D11, D12, D13, D14, D21, D22, D23, and D24), which is not limited thereto.
The detailed process of determining the range-doppler spectrum E11 from the fourth signal D11 is explained below, and the process of determining the range-doppler spectrum from the other fourth signals is similar.
For example, as shown in fig. 1, the fourth signal D11 is equal to the third signal C1 in the pulse repetition interval t1 of each antenna rotation period and is equal to 0 in the pulse repetition intervals (t2, t3, and t4) of each antenna rotation period, the first time period H includes 10 antenna rotation periods, and the multi-transmitter and multi-receiver radar can perform quantization sampling on the fourth signal D11 in the pulse repetition intervals t1 of 10 antenna rotation periods to obtain 10 discrete digital sequences, each of the 10 discrete digital sequences includes 256 points, each point corresponds to a complex number, so that the 10 discrete digital sequences correspond to 10 one-dimensional arrays, and each one-dimensional array is composed of 256 complex numbers. Then, the 10 one-dimensional arrays are stacked together to form 1 two-dimensional array, as shown in table 1, and table 1 shows 1 two-dimensional array formed by the 10 one-dimensional arrays.
1 st point 2 nd point … 256 th point
Pulse repetition interval t1 of antenna rotation period L1 Plural number X1-1 Plural number X1-2 … Plural number X1-256
Pulse repetition interval t1 of antenna rotation period L2 Plural number X2-1 Plural number X2-2 … Plural number X2-256
… … … … …
Pulse repetition interval t1 of antenna rotation period L10 Plural number X10-1 Plural number X10-2 … Plural number X10-256
TABLE 1
Finally, a two-dimensional discrete fourier transform is performed on the two-dimensional array shown in table 1 to obtain a range-doppler spectrum E11. Referring to table 2, table 2 shows a range-doppler spectrum E11.
Distance 1 Distance 2 … Distance 256
Speed 1 Plural number Y1-1 Plural number Y1-2 … Plural Y1-256
2 nd speed Plural number Y2-1 Plural number Y2-2 … Plural Y2-256
… … … … …
Speed 10 Plural number Y10-1 Plural number Y10-2 … Plural Y10-256
TABLE 2
The above illustrates how the range-doppler spectrum E11 is determined from the fourth signal D11. Similarly, it can be seen how the range-doppler spectra (E12, E13, E14, E21, E22, E23 and E24) are determined from the fourth signals (D12, D13, D14, D21, D22, D23 and D24).
S105, determining the angle information of the first target according to the at least two range-Doppler spectrums.
In S105, please refer to S201 to S208 in the embodiment shown in fig. 3 for a specific implementation process of "determining the angle information of the first target according to at least two range-doppler spectrums", which is not described herein again.
The at least two range-doppler spectrums are subsets of q × m range-doppler spectrums, the q × m range-doppler spectrums correspond to q × m fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.
Specifically, the distance reference information is a distance between a possible target and the multi-transmitter multi-receiver radar measured by the multi-transmitter multi-receiver radar. For example, as shown in the first row of table 2, the distances between the possible targets and the multi-transmit and multi-receive radar measured by the multi-transmit and multi-receive radar include 1 st distance, 2 nd distance, …, and 256 th distance, where the 1 st distance is 5 meters, the 2 nd distance is 10 meters, …, and the 256 th distance is 1280 meters.
Specifically, the speed reference information is a component of the speed of the possible target relative to the multi-transmitter multi-receiver radar on a connecting line, measured by the multi-transmitter multi-receiver radar. For example, as shown in the first column of table 2, the components of the velocity of the target relative to the multi-transmitter multi-receiver radar measured by the multi-transmitter multi-receiver radar on the line include the 1 st velocity, the 2 nd velocity, …, and the 10 th velocity, where the 1 st velocity is 5 m/s, the 2 nd velocity is 10 m/s, …, and the 10 th velocity is 50 m/s.
For example, as shown in fig. 1 and table 2, the first dimension of the range-doppler spectrum E11 is used to indicate the range reference information, which includes 256 ranges. The second dimension of the range-doppler spectrum E11 is used to indicate velocity reference information, which includes 10 velocities. In table 2, each mapping between 256 distances and 10 speeds corresponds to a complex number, e.g., the mapping between the 1 st distance and the 1 st speed corresponds to the complex number Y1-1.
In S105, the angle information of the first target may be determined from the q × m range-doppler spectra, or the angle information of the first target may be determined from at least two range-doppler spectra.
In the embodiment shown in fig. 2, the present application splits each of the q third signals into m fourth signals corresponding to m pulse repetition intervals, so that the pulses included in each fourth signal are equally spaced in the time domain, and each fourth signal can be converted into a range-doppler spectrum by discrete fourier transform. Due to the fact that the scheme adopted by the embodiment of the application can guarantee that the pulses contained in each fourth signal are equally spaced in the time domain, partial pulses of the fourth signals do not need to be discarded, the signal-to-noise ratio of the angle measurement data can be improved, and therefore the accuracy of the multiple-transmission multiple-reception radar in detecting the target angle is improved.
Referring to fig. 1 to 3, fig. 3 is a flowchart of a refinement step included in S105 of fig. 2 according to an embodiment of the present disclosure, and S105 of fig. 2 may include the following steps S201 to S208.
S201, acquiring q fifth signals.
Wherein the q fifth signals are obtained according to the first signal and the q second signals sent by the first transmitting antenna in the p transmitting antennas. Specifically, the multi-transmission multi-reception radar transmits a first signal through a first transmitting antenna in a first time period, receives q second signals through q receiving antennas, and mixes the first signal and the q second signals respectively to generate q fifth signals. Optionally, the fifth signal may be an intermediate frequency signal, where the intermediate frequency signal is obtained by mixing a signal sent by the first transmitting antenna and signals received by the q receiving antennas by the multi-transmit multi-receive radar.
For example, as shown in fig. 1 and fig. 2, the multiple-input multiple-output radar may generate 2 fifth signals (F1 and F2) according to a first signal a1 transmitted by a transmitting antenna tx1 and 2 second signals (B1 and B2) received by 2 receiving antennas (rx1 and rx 2). Specifically, the multiple-transmit multiple-receive radar may generate the fifth signal F1 according to the first signal a1 transmitted by the transmitting antenna tx1 and the second signal B1 received by the receiving antenna rx1, and the multiple-transmit multiple-receive radar may generate the fifth signal F2 according to the first signal a1 transmitted by the transmitting antenna tx1 and the second signal B2 received by the receiving antenna rx 2. In the present example, the 2 fifth signals (F1 and F2) may be 2 intermediate frequency signals.
After S201, before S202, the method provided in this embodiment of the present application may further determine q range-doppler spectrums according to q fifth signals.
For example, referring to fig. 1, assuming that q is 2, the multi-transmit multi-receive radar may determine 2 range-doppler spectrums (G1 and G2) from 2 fifth signals (F1 and F2). Specifically, the multi-transmission multi-reception radar determines the range-doppler spectrum G1 from the fifth signal F1, and the multi-transmission multi-reception radar determines the range-doppler spectrum G2 from the fifth signal F2.
A detailed procedure for determining the range-doppler spectrum G1 from the fifth signal F1 is explained below, and similarly with respect to the procedure for determining the range-doppler spectrum G2 from the fifth signal F2.
For example, as shown in fig. 1, the fifth signal F1 is equal to the third signal C1 in the pulse repetition interval (t1 and t3) of each antenna rotation period and is equal to 0 in the pulse repetition interval (t2 and t4) of each antenna rotation period, the first time period H includes 10 antenna rotation periods, the multi-transmit and multi-receive radar can perform quantization sampling on the fifth signal F1 in the pulse repetition interval (t1 and t3) of 10 antenna rotation periods to obtain 20 discrete number sequences, each of the 20 discrete number sequences includes 256 points, each point corresponds to a complex number, so that the 20 discrete number sequences correspond to 20 one-dimensional arrays, and each one-dimensional array is formed by 256 complex numbers. Then, the 20 one-dimensional arrays are stacked together to form 1 two-dimensional array, as shown in table 3, and table 3 shows 1 two-dimensional array formed by the 20 one-dimensional arrays.
1 st point 2 nd point … 256 th point
Pulse repetition interval t1 of antenna rotation period L1 Plural number I1-1 Plural number I1-2 … Plural numbers I1-256
Pulse repetition interval t3 of antenna rotation period L1 Plural number I2-1 Plural number I2-2 … Plural numbers I2-256
… … … … …
Pulse repetition interval t1 of antenna rotation period L10 Plural number I19-1 Plural number I19-2 … Plural numbers I19-256
Pulse repetition interval t3 of antenna rotation period L10 Plural number I20-1 Plural number I20-2 … Plural numbers I20-256
TABLE 3
Finally, a two-dimensional discrete fourier transform is performed on the two-dimensional array shown in table 3 to obtain a range-doppler spectrum G1. Referring to table 4, table 4 shows the range-doppler spectrum G1.
Distance 1 Distance 2 … Distance 256
Speed 1 Plural number J1-1 Plural number J1-2 … Plural number J1-256
2 nd speed Plural number J2-1 Plural number J2-2 … Plural number J2-256
… … … … …
Speed No. 19 Plural number J19-1 Plural number J19-2 … Plural number J19-256
Speed 20 Plural number J20-1 Plural number J20-2 … Plural number J20-256
TABLE 4
S202, generating a first three-dimensional array according to the q distance Doppler spectrums.
The first dimension of the first three-dimensional array is used for indicating the sequence number of each range-doppler spectrum in the q range-doppler spectrums, the second dimension of the first three-dimensional array is used for indicating range reference information, the third dimension of the first three-dimensional array is used for indicating speed reference information, and elements in the first three-dimensional array are used for indicating the sequence number, the range reference information and the complex number corresponding to the speed reference information.
Specifically, the rank of each of the q range-doppler spectra refers to the identity of each range-doppler spectrum. It is understood that the ordinal number of each range-doppler spectrum refers to the name of each range-doppler spectrum. Referring to fig. 4, the upper range-doppler spectrum is numbered G1, and the lower range-doppler spectrum is numbered G2.
For example, please refer to fig. 1, table 4 and fig. 4, where fig. 4 is a schematic structural diagram of a first three-dimensional array according to an embodiment of the present application. Assuming that q is 2, the multi-transmit multi-receive radar may determine 2 range-doppler spectra (G1 and G2) from the 2 fifth signals (F1 and F2). The multi-transmitter multi-receiver radar can also stack 2 range-doppler spectrums (G1 and G2) together to obtain a three-dimensional array K1. Specifically, the first dimension of the three-dimensional array K1 is used to indicate the sequence number of each range-doppler spectrum in the range-doppler spectra (G1 and G2), the second dimension of the three-dimensional array K1 is used to indicate range reference information, the third dimension of the three-dimensional array K1 is used to indicate velocity reference information, and the elements in the three-dimensional array K1 are used to indicate the sequence number, the range reference information, and the complex number corresponding to the velocity reference information. In this example, the first dimension of the three-dimensional array K1 includes 2 sequence numbers, the second dimension of the three-dimensional array K1 includes 256 distances, the third dimension of the three-dimensional array K1 includes 20 speeds, and the three-dimensional array K1 includes 10240 complex numbers, that is, the three-dimensional array K1 includes 10240 complex numbers.
S203, performing discrete Fourier transform on the first dimension of the first three-dimensional array to obtain a second three-dimensional array.
The first dimension of the second three-dimensional array is used for indicating angle reference information, the second dimension of the second three-dimensional array is used for indicating distance reference information, the third dimension of the second three-dimensional array is used for indicating speed reference information, and elements in the second three-dimensional array are used for indicating a plurality of numbers corresponding to the angle reference information, the distance reference information and the speed reference information.
For example, referring to fig. 5, fig. 5 is a schematic diagram of obtaining the three-dimensional array K2 according to the three-dimensional array K1 according to an embodiment of the present application, and the three-dimensional array K2 can be obtained after performing discrete fourier transform on the first dimension of the three-dimensional array K1. Specifically, a first dimension of the three-dimensional array K2 is used for indicating angle reference information, a second dimension of the three-dimensional array K2 is used for indicating distance reference information, a third dimension of the three-dimensional array K2 is used for indicating speed reference information, and elements in the three-dimensional array K2 are used for indicating a plurality of corresponding angle reference information, distance reference information and speed reference information. In this example, the first dimension of the three-dimensional array K2 includes 2 angles, the second dimension of the three-dimensional array K2 includes 256 distances, the third dimension of the three-dimensional array K2 includes 20 speeds, and the three-dimensional array K2 includes 10240 complex numbers, that is, the three-dimensional array K2 includes 10240 complex numbers.
And S204, performing modulus or modulus square on each element in the second three-dimensional array to obtain a third three-dimensional array.
For example, please refer to fig. 6, where fig. 6 is a schematic diagram of obtaining a three-dimensional array K3 according to a three-dimensional array K2 according to an embodiment of the present application, and performing a modulo operation on 10240 elements in the three-dimensional array K2 to obtain a three-dimensional array K3, where each element in the three-dimensional array K3 is a real number. Of course, the square of the modulus operation on 10240 elements in the three-dimensional array K2 may also be used to obtain the three-dimensional array K3, where each element in the three-dimensional array K3 is a real number. Specifically, a first dimension of the three-dimensional array K3 is used for indicating angle reference information, a second dimension of the three-dimensional array K3 is used for indicating distance reference information, a third dimension of the three-dimensional array K3 is used for indicating speed reference information, and elements in the three-dimensional array K3 are used for indicating real numbers corresponding to the angle reference information, the distance reference information and the speed reference information. In this example, the first dimension of the three-dimensional array K3 includes 2 angles, the second dimension of the three-dimensional array K3 includes 256 distances, the third dimension of the three-dimensional array K3 includes 20 speeds, and the three-dimensional array K3 includes 2 × 256 × 20 × 10240 elements, that is, the three-dimensional array K3 includes 10240 real numbers.
S205, detecting the first target in the third three-dimensional array to determine the distance information of the first target and the speed information of the first target.
Wherein detecting the first target in the third three-dimensional array refers to detecting local peaks of a plurality of real numbers in the third three-dimensional array. And if a local peak exists in a plurality of real numbers of the third three-dimensional array, considering that a first target exists, then taking the distance reference information corresponding to the local peak as the distance information of the first target, and taking the speed reference information corresponding to the local peak as the speed information of the first target.
Specifically, each element in the third three-dimensional array is a real number, and the local peak values of the plurality of real numbers in the third three-dimensional array refer to real numbers which are larger in the third three-dimensional array relative to the value of the adjacent area. For example, assuming that the first element in the third three-dimensional array is 10, if real numbers corresponding to a plurality of elements adjacent to the first element are all less than 10, the first element may be referred to as a local peak. At least one local peak may be included in the third three-dimensional array.
For example, please refer to fig. 7, fig. 7 is a schematic diagram of determining a local peak X according to a three-dimensional array K3 according to an embodiment of the present application, where the local peak X is detected in 10240 real numbers of the three-dimensional array K3. Then, distance reference information Y and velocity reference information Z corresponding to the local peak X are determined. Secondly, the distance reference information Y is determined as the distance information of the first target, and the speed reference information Z is determined as the speed information of the first target.
S206, determining at least two complex numbers of the first target in at least two range-Doppler spectrums according to the distance information of the first target and the speed information of the first target.
Here, the "at least two range-doppler spectrums" mentioned in S206 refer to the "at least two range-doppler spectrums" in S105 of fig. 2, where the "at least two range-doppler spectrums" are subsets of q × m range-doppler spectrums, the q × m range-doppler spectrums correspond to q × m fourth signals, and the q × m fourth signals are the results obtained in S104 of fig. 2.
As an example, it is assumed that the at least two range-doppler spectra are q × m range-doppler spectra, q is 2, and m is 4, that is, 8 complex numbers of the first target in 8 range-doppler spectra (E11, E12, E13, E14, E21, E22, E23, and E24) are determined according to the distance information of the first target and the velocity information of the first target.
Referring to fig. 1 and table 2, table 2 shows a range-doppler spectrum E11, and how to determine 1 complex number of the first target in the range-doppler spectrum E11 according to the distance information of the first target and the velocity information of the first target is described below, and similarly, how to determine 7 complex numbers of the first target in another 7 range-doppler spectrums (E12, E13, E14, E21, E22, E23, and E24) according to the distance information of the first target and the velocity information of the first target. Specifically, as can be seen from table 2, the first row is 256 distances, the first column is 10 speeds, the distance information of the first object is determined to be the same as which of the 256 distances, and the speed information of the first object is determined to be the same as which of the 10 speeds. Assuming that the distance information of the first object is the same as the 1 st distance among the 256 distances and the velocity information of the first object is the same as the 1 st velocity among the 10 velocities, a complex number Y1-1 corresponding to the 1 st distance and the 1 st velocity may be extracted in table 2.
In the example shown in fig. 1, there are a total of 8 range-doppler spectra (E11, E12, E13, E14, E21, E22, E23, and E24), and 8 complex numbers can be obtained in the 8 range-doppler spectra (E11, E12, E13, E14, E21, E22, E23, and E24) from the distance information of the first target and the velocity information of the first target.
S207, according to the speed information of the first target and the at least two time difference values, phase correction is carried out on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums.
The at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, a time difference value corresponding to a jth fourth signal in the m fourth signals is a difference between a start time of a1 st pulse repetition interval and a start time of a jth pulse repetition interval in any one antenna rotation period.
For example, please refer to fig. 1, and how to obtain the "at least two time difference values" is described by way of example below. Let q be 2 and m be 4, i.e. at least two time difference values are a subset of 8 time difference values, and 8 time difference values correspond to 8 fourth signals (D11, D12, D13, D14, D21, D22, D23 and D24) corresponding to 2 third signals (C1 and C2). For the 4 fourth signals (D11, D12, D13 and D14) corresponding to the third signal C1, the time difference of the fourth signal D11 is the difference between the starting time of the pulse repetition interval t1 of the antenna rotation period L1 and the starting time of the pulse repetition interval t1 of the antenna rotation period L1, the time difference of the fourth signal D12 is the difference between the starting time of the pulse repetition interval t1 of the antenna rotation period L1 and the starting time of the pulse repetition interval t2 of the antenna rotation period L1, the time difference of the fourth signal D13 is the difference between the starting time of the pulse repetition interval t1 of the antenna rotation period L1 and the starting time of the pulse repetition interval t3 of the antenna rotation period L1, the time difference of the fourth signal D14 is the difference between the start of the pulse repetition interval t1 of the antenna rotation period L1 and the start of the pulse repetition interval t4 of the antenna rotation period L1. Similarly, the time difference values of the 4 fourth signals (D21, D22, D23, and D24) corresponding to the third signal C2 can be obtained.
Specifically, the formula for obtaining the corrected complex number by performing phase correction on the complex number is as follows:
b is a corrected complex number, a is a complex number in at least two range-doppler spectra, exp () refers to an exponential function with a natural constant e as a base, j is an imaginary unit, and Q is a phase correction amount.
Specifically, the formula for calculating the phase correction amount Q is:
q ═ 2 pi × (2 × Va ÷ λ) × T, where Va is speed information of the first target, T is the start time of the jth fourth signal, and λ is the carrier wavelength.
Specifically, the formula for calculating the carrier wavelength λ is as follows:
λ ═ c ÷ f, where c is the speed of light and f is the carrier frequency.
After S207, before S208, the method provided in this embodiment of the present application may further include the following steps: the q × p antenna pairs are antenna pairs formed by matching each transmitting antenna in the p transmitting antennas with each receiving antenna in the q receiving antennas, and the q × p second correction complex numbers corresponding to the q × p antenna pairs are obtained according to at least two first correction complex numbers; for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, and the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair; alternatively, for a first antenna pair of the q × p antenna pairs, the second complex number for the first antenna pair is the third complex number for the first antenna pair.
The above-mentioned contents respectively refer to a first plural number, a second plural number and a third plural number, and the first plural number, the second plural number and the third plural number are plural numbers. Specifically, the first complex number is a complex number obtained by performing phase correction on at least two complex numbers in at least two range-doppler spectra in S207, the second complex number is q × p complex numbers corresponding to q × p antenna pairs, and the third complex number is one of the at least two first complex numbers.
For example, it is assumed that q is 2, p is 3, m is 4, the number of antenna pairs is q × p is 6, and the number of correction complex numbers is q × m is 8. Then the 6 antenna pairs are antenna pairs formed by matching each of the 3 transmitting antennas with each of the 2 receiving antennas, and the 6 second correction complex numbers corresponding to the 6 antenna pairs are obtained according to the 8 first correction complex numbers. For the first antenna pair in the 6 antenna pairs, if the first antenna pair corresponds to 2 correction complex numbers, the correction complex number of the first antenna pair is an average value of the 2 correction complex numbers corresponding to the first antenna pair, and the method for calculating the average value can improve the signal-to-noise ratio, so that the accuracy of angle detection is improved. Of course, if the first antenna pair corresponds to 2 correction complex numbers, the correction complex number of the first antenna pair may also be any one of the 2 correction complex numbers. If the first antenna pair corresponds to 1 corrected complex number, the corrected complex number of the first antenna pair is the corrected complex number.
Referring to table 5, table 5 shows the antenna pairing between the transmitting antenna and the receiving antenna.
Receiving antenna rx1 Receiving antenna rx2
Transmitting antenna tx1 Antenna pairing vx11 Antenna pairing vx12
Transmitting antenna tx2 Antenna pairing vx21 Antenna pairing vx22
Transmitting antenna tx3 Antenna pairing vx31 Antenna pairing vx32
TABLE 5
As can be seen from fig. 1 and table 5, 3 transmitting antennas and 2 receiving antennas can form 6 antenna pairs. As can be seen from the foregoing examples, 8 range doppler spectra (E11, E12, E13, E14, E21, E22, E23, and E24) are determined from the 8 fourth signals (D11, D12, D13, D14, D21, D22, D23, and D24), and 8 complex numbers (U14, E14, and E14) of the 8 range doppler spectra (E11, E12, E13, E14, and E14) of the first target are determined, and the 8 complex numbers are phase-corrected to obtain 8 corrected complex numbers (V14, and V14).
The relationship between the 6 antenna pairs and the 8 correction complex numbers is: the correction complex number corresponding to the antenna pair vx11 includes a correction complex number V11 and a correction complex number V13, the correction complex number corresponding to the antenna pair vx21 includes a correction complex number V12, the correction complex number corresponding to the antenna pair vx31 includes a correction complex number V14, the correction complex number corresponding to the antenna pair vx12 includes a correction complex number V21 and a correction complex number V23, the correction complex number corresponding to the antenna pair vx22 includes a correction complex number V22, and the correction complex number corresponding to the antenna pair vx32 includes a correction complex number V24.
For the case that the plurality of corrections corresponding to the antenna pair includes at least two correction complex numbers, for example, the plurality of corrections corresponding to the antenna pair vx11 includes a correction complex number V11 and a correction complex number V13, and an average value of the correction complex number V11 and the correction complex number V13 may be calculated and used as the correction complex number corresponding to the antenna pair vx 11. Of course, any one of the correction complex numbers V11 and V13 may be used as the correction complex number corresponding to the antenna pair vx 11.
For the case that the plurality of corrections corresponding to the antenna pair includes 1 plurality of corrections, for example, the plurality of corrections corresponding to the antenna pair vx21 includes a plurality of corrections V12, and the plurality of corrections V12 can be used as the plurality of corrections corresponding to the antenna pair vx 21.
S208, determining the angle information of the first target according to the at least two first correction complex numbers, the first spatial position relation and the second spatial position relation.
The first spatial position relationship is a spatial position relationship among p transmitting antennas, and the second spatial position relationship is a spatial position relationship among q receiving antennas.
In the embodiment shown in fig. 3, in S201 to S205, q fifth signals are generated by using the first signal sent by the first transmitting antenna and q second signals received by q receiving antennas, q range-doppler spectrums are determined according to the q fifth signals, a third three-dimensional array is obtained according to the q range-doppler spectrums, and finally, the first target is detected in the third three-dimensional array to determine the range information of the first target and the speed information of the first target. In the prior art, a target is detected in a range-doppler domain, and since the first target is detected in the third three-dimensional array in the embodiment of the present application, which is equivalent to that the target is detected in a range-doppler angle domain in the embodiment of the present application, effective signals of each receiving antenna of the multi-transmission multi-reception radar provided in the embodiment of the present application can be superposed in phase, so that the signal-to-noise ratio of the target detection is further improved, and the signal-to-noise ratio of a local peak value of the target detection is also higher.
In the embodiment shown in fig. 3, in S206, the present embodiment splits each of the q third signals into m fourth signals corresponding to m pulse repetition intervals, so that the pulses included in each fourth signal are equally spaced in the time domain, and each fourth signal may be converted into a range-doppler spectrum by discrete fourier transform. Furthermore, since the at least two range-doppler spectrums are generated according to the at least two fourth signals, the positions of the first target in the at least two range-doppler spectrums are the same, and after the position of the first target in one range-doppler spectrum is determined, the positions of the first target in the at least two range-doppler spectrums are determined, which is equivalent to determining the positions of the first target in the at least two range-doppler spectrums, so that the calculation process for determining the complex number of the first target in the at least two range-doppler spectrums can be simplified.
Referring to fig. 8, fig. 8 is a schematic block diagram of a detection apparatus according to an embodiment of the present disclosure. The schematic diagram is an illustration of a logical structure, and does not limit the specific physical structure. The detection device comprises an acquisition module 11 and a determination module 12.
An obtaining module 11, configured to obtain q third signals, where the q third signals are obtained according to the p first signals and the q second signals.
A determining module 12 for determining, for each of the q third signals, m fourth signals corresponding to m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval in each of the antenna rotation periods, wherein 1 ≦ i ≦ m; angular information of the first target is determined from at least two range-doppler spectra, the at least two range-doppler spectra being a subset of the q x m range-doppler spectra.
The q × m range-doppler spectrums correspond to the q × m fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.
In the detection apparatus, the acquisition module and the determination module may be independent or integrated, and may be collectively referred to as a determination module, for example.
In the embodiment shown in fig. 8, when the detecting device is a multi-transmitter multi-receiver radar, the detecting device may further include a transmitting module 13 and a receiving module 14.
The transmitting module 13 is configured to transmit p first signals through p transmit antennas in a first time period, where the first time period includes n antenna rotation cycles, and each antenna rotation cycle includes m pulse repetition intervals.
A receiving module 14, configured to receive q second signals from q receiving antennas.
As to additional functions that can be realized by the obtaining module 11, the determining module 12, the sending module 13 and the receiving module 14 and more details for realizing the above functions, please refer to the description of the previous embodiments of the method, which will not be repeated here.
The apparatus embodiment depicted in fig. 8 is merely illustrative, and for example, the division of the modules is only one logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. The functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a detection apparatus according to an embodiment of the present disclosure. The detection means shown in fig. 9 comprises at least one processor 21 and at least one memory 22.
The at least one memory 22 has stored therein a computer program, and the at least one processor 21 invokes the computer program stored in the at least one memory 22 to: the at least one processor 21 obtains q third signals provided by q mixers 23, the q third signals being derived from the p first signals and the q second signals; for each of the q third signals, determining m fourth signals corresponding to m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval in each of the antenna rotation periods, wherein 1 ≦ i ≦ m; determining angle information of the first target according to at least two range-doppler spectrums, wherein the at least two range-doppler spectrums are subsets of q × m range-doppler spectrums; the q × m range-doppler spectrums correspond to the q × m fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.
In the embodiment shown in fig. 9, when the detecting device is a multi-transmit multi-receive radar, the detecting device may further include P transmit antennas tx, q receive antennas rx, a synthesizer 23, a transmit antenna selecting device 24, and q mixers 25.
Wherein, the synthesizer 23 is configured to generate p first signals, and send the p first signals to the transmitting antenna selecting device 24 and the q mixers 25, respectively.
And a transmitting antenna selection device 24, configured to receive the p first signals sent by the combiner 23, and send the p first signals through the p transmitting antennas tx in a first time period, where the first time period includes n antenna rotation periods, and each antenna rotation period includes m pulse repetition intervals.
A mixer 25 for receiving the second signal provided by the receiving antenna rx and the p first signals provided by the synthesizer 23 and generating a third signal according to the p first signals and the second signal. Wherein q mixers 25 may generate q third signals, and q mixers 25 transmit the generated q third signals to the at least one processor 21.
The embodiment shown in fig. 9 shows a detection device which is only one specific embodiment of the present application, and of course, the detection device may have other structures. For example, at least one processor 21 may be used to replace the operation of the transmit antenna selection apparatus 24 during product design, and to omit this component of the transmit antenna selection apparatus 24, to reduce hardware costs and the amount of hardware. In particular, the at least one processor 21 invokes a computer program stored in the at least one memory 22, which is further configured to perform the following operations: for receiving the p first signals transmitted by the combiner 23, the p first signals are transmitted through the p transmitting antennas tx during the first time period.
With regard to the additional functions that can be implemented by the at least one processor 21 and the at least one memory 22, the P transmit antennas tx, the q receive antennas rx, the combiner 23, the transmit antenna selection means 24 and the q mixers 25 and with regard to further details of implementing the above-described functions, reference is made to the description of the respective method embodiments above and will not be repeated here.
It should be noted that the processor and the memory may be independent from the transmitting antenna, the receiving antenna, and the like in terms of hardware structure, that is, may be located on different chips or integrated circuits.
Embodiments of the present application further provide a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on at least one processor, the method shown in fig. 2 and fig. 3 may be implemented.
Embodiments of the present application also provide a computer program product, which when run on at least one processor, can implement the methods shown in fig. 2 and 3.
Embodiments of the present application also provide a sensor system, which includes at least one sensor. The sensor may comprise at least one multi-shot radar, which may be a detection device as shown in fig. 9.
The embodiment of the application also provides a vehicle which can comprise the sensor system.
The embodiment of the invention also provides a chip system, which comprises at least one processor, at least one memory and an interface circuit, wherein the at least one memory, the interface circuit and the at least one processor are interconnected through lines; the computer program, when executed by the at least one processor, may implement the methods illustrated in fig. 2 and 3.
One of ordinary skill in the art will appreciate that all or part of the processes in the methods of the above embodiments can be implemented by hardware associated with a computer program that can be stored in a computer-readable storage medium, and when executed, can include the processes of the above method embodiments. And the aforementioned storage medium includes: various media that can store computer program code, such as ROM or RAM, magnetic or optical disks, etc.

Claims (23)

1. A method of object detection, the method comprising:
transmitting p first signals through p transmit antennas in a first time period, the first time period comprising n antenna rotation periods, each of the antenna rotation periods comprising m pulse repetition intervals;
receiving q second signals from q receive antennas;
obtaining q third signals, wherein the q third signals are obtained according to the p first signals and the q second signals;
for each of the q third signals, determining m fourth signals corresponding to the m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval for the each antenna rotation period, wherein 1 ≦ i ≦ m;
determining angle information of the first target from at least two range-doppler spectra, the at least two range-doppler spectra being a subset of q x m range-doppler spectra;
the qxm range-doppler spectrums correspond to the qxm fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating range reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.
2. The method of claim 1, wherein determining angle information of the first target from at least two range-doppler spectra comprises:
determining distance information of a first target and speed information of the first target;
and determining the angle information of the first target according to the distance information of the first target, the speed information of the first target and the at least two range-Doppler spectrums.
3. The object detection method of claim 2, wherein determining the distance information of the first object and the velocity information of the first object comprises:
acquiring q fifth signals, wherein the q fifth signals are obtained according to the q second signals and the first signals sent by the first transmitting antenna in the p transmitting antennas;
and determining the distance information of the first target and the speed information of the first target according to q distance Doppler spectrums, wherein the q distance Doppler spectrums correspond to the q fifth signals.
4. The method of claim 3, wherein determining the range information of the first target and the velocity information of the first target from the q range-Doppler spectra comprises:
generating a first three-dimensional array according to the q range-doppler spectrums, wherein a first dimension of the first three-dimensional array is used for indicating a sequence number of each range-doppler spectrum in the q range-doppler spectrums, a second dimension of the first three-dimensional array is used for indicating range reference information, a third dimension of the first three-dimensional array is used for indicating speed reference information, and elements in the first three-dimensional array are used for indicating complex numbers corresponding to the sequence number, the range reference information and the speed reference information;
and determining the distance information of the first target and the speed information of the first target according to the first three-dimensional array.
5. The object detection method of claim 4, wherein determining the distance information of the first object and the velocity information of the first object from the first three-dimensional array comprises:
detecting the first target in a third three-dimensional array, and determining the distance information of the first target and the speed information of the first target;
the third three-dimensional array is obtained by taking a modulus or a square of the modulus for each element in a second three-dimensional array, the second three-dimensional array is obtained by performing discrete Fourier transform on the first dimension of the first three-dimensional array, the first dimension of the second three-dimensional array is used for indicating angle reference information, the second dimension of the second three-dimensional array is used for indicating distance reference information, and the third dimension of the second three-dimensional array is used for indicating speed reference information.
6. The method of claim 2, wherein determining the angle information of the first target according to the range information of the first target, the velocity information of the first target, and the at least two range-doppler spectra comprises:
determining at least two complex numbers of the first target in the at least two range-doppler spectra according to the range information of the first target and the velocity information of the first target;
according to the speed information of the first target and the at least two time difference values, performing phase correction on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums; the at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, a time difference value corresponding to a jth fourth signal of the m fourth signals is a difference between a start time of a1 st pulse repetition interval and a start time of the jth pulse repetition interval in any one antenna rotation period;
and determining the angle information of the first target according to the at least two first correction complex numbers, a first spatial position relationship and a second spatial position relationship, wherein the first spatial position relationship is a spatial position relationship among the p transmitting antennas, and the second spatial position relationship is a spatial position relationship among the q receiving antennas.
7. The object detection method according to claim 6, characterized in that:
the q × p antenna pairs are antenna pairs formed by matching between each transmitting antenna in the p transmitting antennas and each receiving antenna in the q receiving antennas, and the q × p second correction complex numbers corresponding to the q × p antenna pairs are obtained according to the at least two first correction complex numbers;
for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, and the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair; or,
for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is a third complex number corresponding to the first antenna pair, and the third complex number is one of the at least two first complex numbers.
8. A probe apparatus, characterized in that the probe apparatus comprises:
a transmitting module, configured to transmit p first signals through p transmit antennas in a first time period, where the first time period includes n antenna rotation periods, and each antenna rotation period includes m pulse repetition intervals;
a receiving module, configured to receive q second signals from q receiving antennas;
an obtaining module, configured to obtain q third signals, where the q third signals are obtained according to the p first signals and the q second signals;
a determining module for determining, for each of the q third signals, m fourth signals corresponding to the m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval in each of the antenna rotation periods, wherein 1 ≦ i ≦ m; determining angle information of the first target from at least two range-doppler spectra, the at least two range-doppler spectra being a subset of q x m range-doppler spectra;
the qxm range-doppler spectrums correspond to the qxm fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating range reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information.
9. The probe apparatus of claim 8, wherein:
the determining module is specifically configured to determine distance information of a first target and speed information of the first target; and determining the angle information of the first target according to the distance information of the first target, the speed information of the first target and the at least two range-Doppler spectrums.
10. The probe apparatus of claim 9, wherein:
the determining module is specifically configured to acquire q fifth signals, where the q fifth signals are obtained according to the q second signals and the first signal sent by the first transmit antenna of the p transmit antennas; and determining the distance information of the first target and the speed information of the first target according to q distance Doppler spectrums, wherein the q distance Doppler spectrums correspond to the q fifth signals.
11. The probe apparatus of claim 10, wherein:
the determining module is specifically configured to generate a first three-dimensional array according to the q range-doppler spectrums, where a first dimension of the first three-dimensional array is used to indicate a sequence number of each range-doppler spectrum in the q range-doppler spectrums, a second dimension of the first three-dimensional array is used to indicate distance reference information, a third dimension of the first three-dimensional array is used to indicate velocity reference information, and an element in the first three-dimensional array is used to indicate a complex number corresponding to the sequence number, the distance reference information, and the velocity reference information; and determining the distance information of the first target and the speed information of the first target according to the first three-dimensional array.
12. The probe apparatus of claim 11, wherein:
the determining module is specifically configured to perform discrete fourier transform on the first dimension of the first three-dimensional array to obtain a second three-dimensional array, where the first dimension of the second three-dimensional array is used to indicate angle reference information, the second dimension of the second three-dimensional array is used to indicate distance reference information, and the third dimension of the second three-dimensional array is used to indicate speed reference information; performing modulus or modulus square on each element in the second three-dimensional array to obtain a third three-dimensional array; and detecting the first target in the third three-dimensional array to determine the distance information of the first target and the speed information of the first target.
13. The probe apparatus of claim 9, wherein:
the determining module is specifically configured to determine at least two complex numbers of the first target in the at least two range-doppler spectra according to the distance information of the first target and the velocity information of the first target; according to the speed information of the first target and the at least two time difference values, performing phase correction on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums; the at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, a time difference value corresponding to a jth fourth signal of the m fourth signals is a difference between a start time of a1 st pulse repetition interval and a start time of the jth pulse repetition interval in any one antenna rotation period; and determining the angle information of the first target according to the at least two first correction complex numbers, a first spatial position relationship and a second spatial position relationship, wherein the first spatial position relationship is a spatial position relationship among the p transmitting antennas, and the second spatial position relationship is a spatial position relationship among the q receiving antennas.
14. The probe apparatus of claim 13, wherein:
the q × p antenna pairs are antenna pairs formed by matching between each transmitting antenna in the p transmitting antennas and each receiving antenna in the q receiving antennas, and the q × p second correction complex numbers corresponding to the q × p antenna pairs are obtained according to the at least two first correction complex numbers;
for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair;
or, for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is a third complex number corresponding to the first antenna pair, and the third complex number is one of the at least two first complex numbers.
15. A probe apparatus, comprising at least one memory and at least one processor;
the at least one memory has a computer program stored therein, and the at least one processor invokes the computer program stored in the at least one memory to cause the probe device to:
obtaining q third signals, wherein the q third signals are obtained according to the p first signals and the q second signals; for each of the q third signals, determining m fourth signals corresponding to the m pulse repetition intervals, in each of the n antenna rotation periods, an ith one of the m fourth signals being equal to the third signal for an ith pulse repetition interval, and an ith one of the m fourth signals being equal to 0 for time intervals other than the ith pulse repetition interval for the each antenna rotation period, wherein 1 ≦ i ≦ m; determining angle information of the first target from at least two range-doppler spectra, the at least two range-doppler spectra being a subset of q x m range-doppler spectra; the qxm range-doppler spectrums correspond to the qxm fourth signals, the range-doppler spectrums include a two-dimensional array, a first dimension of the two-dimensional array is used for indicating distance reference information, and a second dimension of the two-dimensional array is used for indicating speed reference information;
the p first signals are signals transmitted through p transmitting antennas in a first time period, the q second signals are signals received by q receiving antennas, the first time period comprises n antenna rotation periods, and each antenna rotation period comprises m pulse repetition intervals.
16. The probe apparatus of claim 15, wherein:
the at least one processor is specifically configured to determine distance information of a first target and velocity information of the first target; and determining the angle information of the first target according to the distance information of the first target, the speed information of the first target and the at least two range-Doppler spectrums.
17. The probe apparatus of claim 16, wherein:
the at least one processor is specifically configured to acquire q fifth signals, where the q fifth signals are obtained according to the q second signals and the first signal sent by the first transmit antenna of the p transmit antennas; and determining the distance information of the first target and the speed information of the first target according to q distance Doppler spectrums, wherein the q distance Doppler spectrums correspond to the q fifth signals.
18. The probe apparatus of claim 17, wherein:
the at least one processor is specifically configured to generate a first three-dimensional array according to the q range-doppler spectrums, where a first dimension of the first three-dimensional array is used to indicate a sequence number of each range-doppler spectrum in the q range-doppler spectrums, a second dimension of the first three-dimensional array is used to indicate distance reference information, a third dimension of the first three-dimensional array is used to indicate velocity reference information, and an element in the first three-dimensional array is used to indicate a complex number corresponding to the sequence number, the distance reference information, and the velocity reference information; and determining the distance information of the first target and the speed information of the first target according to the first three-dimensional array.
19. The probe apparatus of claim 18, wherein:
the at least one processor is specifically configured to perform discrete fourier transform on the first dimension of the first three-dimensional array to obtain a second three-dimensional array, where the first dimension of the second three-dimensional array is used to indicate angle reference information, the second dimension of the second three-dimensional array is used to indicate distance reference information, and the third dimension of the second three-dimensional array is used to indicate speed reference information; performing modulus or modulus square on each element in the second three-dimensional array to obtain a third three-dimensional array; and detecting the first target in the third three-dimensional array to determine the distance information of the first target and the speed information of the first target.
20. The probe apparatus of claim 16, wherein:
the at least one processor is specifically configured to determine at least two complex numbers of the first target in the at least two range-doppler spectra according to the range information of the first target and the velocity information of the first target; according to the speed information of the first target and the at least two time difference values, performing phase correction on at least two complex numbers in the at least two range-Doppler spectrums to obtain at least two first corrected complex numbers in the at least two range-Doppler spectrums; the at least two time difference values are subsets of q × m time difference values, the q × m time difference values correspond to m fourth signals corresponding to each of the q third signals, and for any one third signal, a time difference value corresponding to a jth fourth signal of the m fourth signals is a difference between a start time of a1 st pulse repetition interval and a start time of the jth pulse repetition interval in any one antenna rotation period; and determining the angle information of the first target according to the at least two first correction complex numbers, a first spatial position relationship and a second spatial position relationship, wherein the first spatial position relationship is a spatial position relationship among the p transmitting antennas, and the second spatial position relationship is a spatial position relationship among the q receiving antennas.
21. The probe apparatus of claim 20, wherein:
the q × p antenna pairs are antenna pairs formed by matching between each transmitting antenna in the p transmitting antennas and each receiving antenna in the q receiving antennas, and the q × p second correction complex numbers corresponding to the q × p antenna pairs are obtained according to the at least two first correction complex numbers;
for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is an average value of at least two third complex numbers corresponding to the first antenna pair, the at least two third complex numbers are subsets of the at least two first complex numbers, or the second complex number corresponding to the first antenna pair is any one of the at least two third complex numbers corresponding to the first antenna pair;
or, for a first antenna pair of the q × p antenna pairs, the second complex number corresponding to the first antenna pair is a third complex number corresponding to the first antenna pair, and the third complex number is one of the at least two first complex numbers.
22. The apparatus according to any one of claims 15 to 21, wherein the apparatus further comprises P transmit antennas, q receive antennas, transmit antenna selection means, and q mixers;
the transmitting antenna selection device is used for controlling the p transmitting antennas to transmit p first signals in a first time period;
the q mixers are configured to receive q second signals from the q receiving antennas, receive p first signals sent by the p transmitting antennas, generate q third signals according to the p first signals and the q second signals, and send the q third signals to the at least one processor.
23. A computer-readable storage medium, in which a computer program is stored which, when run on at least one processor, carries out the method according to any one of claims 1 to 7.
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